TY - GEN
T1 - A real-time underwater object detection algorithm for multi-beam forward looking sonar
AU - Galceran, Enric
AU - Djapic, Vladimir
AU - Carreras, Marc
AU - Williams, David P.
N1 - Funding Information:
★ This research was sponsored by the Spanish government (DPI2011-27977-C03-02) and the TRIDENT EU FP7-Project under the Grant agreement No: ICT-248497.
PY - 2012
Y1 - 2012
N2 - A novel algorithm for the detection of underwater man-made objects in forward-looking sonar imagery is proposed. The algorithm takes advantage of the integral-image representation to quickly compute features, and progressively reduces the computational load by working on smaller portions of the image along the detection process phases. By adhering to the proposed scheme, real-time detection on sonar data onboard an autonomous vehicle is made possible. The proposed method does not require training data, as it dynamically takes into account environmental characteristics of the sensed sonar data. The proposed approach has been implemented and integrated into the software system of the Gemellina autonomous surface vehicle, and is able to run in real time. The validity of the proposed approach is demonstrated on real experiments carried out at sea with the Gemellina autonomous surface vehicle.
AB - A novel algorithm for the detection of underwater man-made objects in forward-looking sonar imagery is proposed. The algorithm takes advantage of the integral-image representation to quickly compute features, and progressively reduces the computational load by working on smaller portions of the image along the detection process phases. By adhering to the proposed scheme, real-time detection on sonar data onboard an autonomous vehicle is made possible. The proposed method does not require training data, as it dynamically takes into account environmental characteristics of the sensed sonar data. The proposed approach has been implemented and integrated into the software system of the Gemellina autonomous surface vehicle, and is able to run in real time. The validity of the proposed approach is demonstrated on real experiments carried out at sea with the Gemellina autonomous surface vehicle.
UR - http://www.scopus.com/inward/record.url?scp=84880854968&partnerID=8YFLogxK
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U2 - 10.3182/20120410-3-pt-4028.00051
DO - 10.3182/20120410-3-pt-4028.00051
M3 - Conference contribution
AN - SCOPUS:84880854968
SN - 9783902823199
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 306
EP - 311
BT - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
PB - IFAC Secretariat
T2 - 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Y2 - 10 April 2012 through 12 April 2012
ER -